-
Notifications
You must be signed in to change notification settings - Fork 55
/
messages.xml
3459 lines (3079 loc) · 172 KB
/
messages.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<?xml version="1.0"?>
<!DOCTYPE protocol SYSTEM "messages.dtd">
<protocol>
<!-- messages from modem or sim to server -->
<msg_class name="telemetry" id="1">
<message name="AUTOPILOT_VERSION" id="1">
<field name="version" type="uint32">version encoded as: MAJOR * 10000 + MINOR * 100 + PATCH</field>
<field name="desc" type="char[]">version description as string from paparazzi_version</field>
</message>
<message name="ALIVE" id="2">
<description>alive/heartbeat message containing the MD5sum of the aircraft configuration</description>
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
<description>Answer to PING datalink message, to measure latencies</description>
</message>
<message name="TAKEOFF" id="4">
<field name="cpu_time" type="uint16" unit="s"></field>
</message>
<message name="ARDRONE_NAVDATA" id="5">
<field name="taille" type="uint16" />
<field name="nu_trame" type="uint16" />
<field name="ax" type="uint16" />
<field name="ay" type="uint16" />
<field name="az" type="uint16" />
<field name="vx" type="int16" />
<field name="vy" type="int16" />
<field name="vz" type="int16" />
<field name="temperature_acc" type="uint16" />
<field name="temperature_gyro" type="uint16" />
<field name="ultrasound" type="uint16" />
<field name="us_debut_echo" type="uint16" />
<field name="us_fin_echo" type="uint16" />
<field name="us_association_echo" type="uint16" />
<field name="us_distance_echo" type="uint16" />
<field name="us_curve_time" type="uint16" />
<field name="us_curve_value" type="uint16" />
<field name="us_curve_ref" type="uint16" />
<field name="nb_echo" type="uint16" />
<field name="sum_echo" type="uint32" />
<field name="gradient" type="int16" />
<field name="flag_echo_ini" type="uint16" />
<field name="pressure" type="int32" />
<field name="temperature_pressure" type="uint16" />
<field name="mx" type="int16" />
<field name="my" type="int16" />
<field name="mz" type="int16" />
<field name="chksum" type="uint16" />
<field name="checksum_errors" type="uint32" />
</message>
<message name="ATTITUDE" id="6">
<field name="phi" type="float" unit="rad" alt_unit="deg"/>
<field name="psi" type="float" unit="rad" alt_unit="deg"/>
<field name="theta" type="float" unit="rad" alt_unit="deg"/>
</message>
<!-- 7 is free-->
<message name="GPS" id="8">
<field name="mode" type="uint8" unit="byte_mask"/>
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Altitude above geoid (MSL)</field>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s">norm of 2d ground speed in cm/s</field>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="week" type="uint16" unit="weeks"/>
<field name="itow" type="uint32" unit="ms"/>
<field name="utm_zone" type="uint8"/>
<field name="gps_nb_err" type="uint8"/>
</message>
<message name="NAVIGATION_REF" id="9">
<field name="utm_east" type="int32" unit="m"/>
<field name="utm_north" type="int32" unit="m"/>
<field name="utm_zone" type="uint8"/>
<field name="ground_alt" type="float" unit="m"/>
</message>
<message name="NAVIGATION" id="10">
<field name="cur_block" type="uint8"/>
<field name="cur_stage" type="uint8"/>
<field name="pos_x" type="float" unit="m" format="%.1f"/>
<field name="pos_y" type="float" unit="m" format="%.1f"/>
<field name="dist_wp" type="float" format="%.1f" unit="m"/>
<field name="dist_home" type="float" format="%.1f" unit="m"/>
<field name="flight_time" type="uint16" unit="s"/>
<field name="block_time" type="uint16" unit="s"/>
<field name="stage_time" type="uint16" unit="s"/>
<field name="kill_auto_throttle" type="uint8" unit="bool"/>
<field name="circle_count" type="uint8"/>
<field name="oval_count" type="uint8"/>
</message>
<message name="PPRZ_MODE" id="11">
<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<field name="ap_gaz" type="uint8" values="MANUAL|AUTO_THROTTLE|AUTO_CLIMB|AUTO_ALT"/>
<field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
<field name="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
<field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>
</message>
<message name="ENERGY" id="12">
<field name="throttle" type="uint8" unit="%">Throttle setting</field>
<field name="voltage" type="float" unit="V">Input battery voltage</field>
<field name="current" type="float" unit="A">Current consumption</field>
<field name="power" type="float" unit="W">Electrical power</field>
<field name="avg_power" type="float" unit="W">Average electrical power</field>
<field name="charge" type="float" unit="Ah">Accumulated consumed charge</field>
<field name="energy" type="float" unit="Wh">Accumulated consumed energy</field>
</message>
<!-- 13 is free-->
<message name="CALIBRATION" id="14">
<field name="climb_sum_err" type="float" format="%.1f"/>
<field name="climb_gaz_submode" type="uint8"/>
</message>
<message name="SETTINGS" id="15">
<field name="slider_1_val" type="float"/>
<field name="slider_2_val" type="float"/>
</message>
<message name="DESIRED" id="16">
<field name="roll" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch" type="float" format="%.2f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="course" type="float" format="%.1f" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="x" type="float" format="%.0f" unit="m"/>
<field name="y" type="float" format="%.0f" unit="m"/>
<field name="altitude" type="float" format="%.0f" unit="m"/>
<field name="climb" type="float" format="%.1f" unit="m/s"></field>
<field name="airspeed" type="float" format="%.1f" unit="m/s"></field>
</message>
<message name="GPS_SOL" id="17">
<field name="Pacc" type="uint32" unit="cm"/>
<field name="Sacc" type="uint32" unit="cm/s"/>
<field name="PDOP" type="uint16"/>
<field name="numSV" type="uint8"/>
</message>
<message name="ADC_GENERIC" id="18">
<field name="val1" type="uint16"/>
<field name="val2" type="uint16"/>
</message>
<!-- 19 is free-->
<message name="CAM" id="20">
<field name="pan" type="int16" unit="deg"/>
<field name="tilt" type="int16" unit="deg"/>
<field name="target_x" type="int16" unit="m"/>
<field name="target_y" type="int16" unit="m"/>
</message>
<message name="CIRCLE" id="21">
<field name="center_east" type="float" unit="m"/>
<field name="center_north" type="float" unit="m"/>
<field name="radius" type="float" unit="m"/>
</message>
<message name="SEGMENT" id="22">
<field name="segment_east_1" type="float" unit="m"/>
<field name="segment_north_1" type="float" unit="m"/>
<field name="segment_east_2" type="float" unit="m"/>
<field name="segment_north_2" type="float" unit="m"/>
</message>
<message name="VECTORNAV_INFO" id="23">
<field name="timestamp" type="float" unit="s"/>
<field name="chksm_error" type="uint32"/>
<field name="hdr_error" type="uint32"/>
<field name="rate" type="uint16" unit="packets/s"/>
<field name="ins_status" type="uint8" values="NoTracking|OutOfSpecs|OK"/>
<field name="ins_err" type="uint8"/>
<field name="YprU1" type="float" unit="deg"/>
<field name="YprU2" type="float" unit="deg"/>
<field name="YprU3" type="float" unit="deg"/>
</message>
<message name="HYBRID_GUIDANCE" id="24">
<field name="pos_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="pos_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="speed_x" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="speed_y" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="wind_x" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="wind_y" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="pos_err_x" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="pos_err_y" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="speed_sp_x" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="speed_sp_y" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="norm_ref_speed" type="int32" alt_unit="m/s" alt_unit_coef="0.0039063"/>
<field name="heading_diff" type="int32"/>
<field name="phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
</message>
<message name="SVINFO" id="25">
<field name="chn" type="uint8"/>
<field name="SVID" type="uint8"/>
<field name="Flags" type="uint8"/>
<field name="QI" type="uint8"/>
<field name="CNO" type="uint8" unit="dbHz"/>
<field name="Elev" type="int8" unit="deg"/>
<field name="Azim" type="int16" unit="deg"/>
</message>
<message name="DEBUG" id="26">
<field name="msg" type="uint8[]"/>
</message>
<message name="SURVEY" id="27">
<field name="east" type="float" unit="m"/>
<field name="north" type="float" unit="m"/>
<field name="west" type="float" unit="m"/>
<field name="south" type="float" unit="m"/>
</message>
<!-- TODO merge with XTEND_RSSI -->
<message name="RSSI" id="28">
<field name="rssi" type="uint8" unit="dB"/>
<field name="tx_power" type="uint8" unit="dB"/>
</message>
<message name="RANGEFINDER" id="29">
<field name="range" type="uint16" unit="cm"/>
<field name="z_dot" type="float" unit="m/s"/>
<field name="z_dot_sum_err" type="float" unit="m/s"/>
<field name="z_dot_setpoint" type="float" unit="m/s"/>
<field name="z_sum_err" type="float" unit="m/s"/>
<field name="z_setpoint" type="float" unit="m"/>
<field name="flying" type="uint8" unit="bool"/>
</message>
<message name="DATALINK_REPORT" id="30">
<description>Datalink status reported by an aircraft for the ground</description>
<field name="uplink_lost_time" type="uint16" unit="s"/>
<field name="uplink_nb_msgs" type="uint16"/>
<field name="downlink_nb_msgs" type="uint16"/>
<field name="downlink_rate" type="uint16" unit="bytes/s"/>
<field name="uplink_rate" type="uint16" unit="msgs/s"/>
<field name="downlink_ovrn" type="uint8"/>
</message>
<!-- Current value of one variable from the dl_settings (airframe.xml) -->
<message name="DL_VALUE" id="31">
<field name="index" type="uint8"/>
<field name="value" type="float"/>
</message>
<message name="MARK" id="32">
<field name="ac_id" type="uint8"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
</message>
<message name="SYS_MON" id="33">
<field name="periodic_time" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_time_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_time_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle_min" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="periodic_cycle_max" type="uint16" unit="usec" alt_unit="msec" alt_unit_coef="0.001"/>
<field name="event_number" type="uint16"/>
<field name="cpu_load" type="uint8" unit="%"/>
<field name="cpu_time" type="float" unit="s"/>
</message>
<message name="MOTOR" id="34">
<field name="rpm" type="uint16" unit="Hz"/>
<field name="current" type="float" unit="A"/>
</message>
<message name="WP_MOVED" id="35">
<description>
Waypoint with id wp_id has been updated/moved to the specified UTM coordinates.
</description>
<field name="wp_id" type="uint8"/>
<field name="utm_east" type="float" unit="m"/>
<field name="utm_north" type="float" unit="m"/>
<field name="alt" type="float" unit="m">Height above Mean Sea Level (geoid)</field>
<field name="utm_zone" type="uint8"/>
</message>
<message name="MKK" id="36">
<field name="nr" type="uint8"/>
<field name="rpm" type="uint8" unit="Poles/s"/>
<field name="current" type="uint8" unit="mA"/>
<field name="temp" type="int8" unit="deg"/>
</message>
<message name="GUIDANCE_INDI_HYBRID" id="37">
<field name="sp_accel_x" type="float"/>
<field name="sp_accel_y" type="float"/>
<field name="sp_accel_z" type="float"/>
<field name="euler_cmd_x" type="float"/>
<field name="euler_cmd_y" type="float"/>
<field name="euler_cmd_z" type="float"/>
<field name="accelned_filt_x" type="float"/>
<field name="accelned_filt_y" type="float"/>
<field name="accelned_filt_z" type="float"/>
<field name="speed_sp_x" type="float"/>
<field name="speed_sp_y" type="float"/>
<field name="speed_sp_z" type="float"/>
</message>
<message name="DRAGSPEED" id="38">
<description>
Velocities in body axes (assuming small pitch/roll angles) as measured
by the dragspeed module and by the INS.
</description>
<field name="u_est" type="float" unit="m/s">Estimated velocity along body +x axis</field>
<field name="v_est" type="float" unit="m/s">Estimated velocity along body +y axis</field>
<field name="u_ins" type="float" unit="m/s">INS velocity along body +x axis</field>
<field name="v_ins" type="float" unit="m/s">INS velocity along body +y axis</field>
</message>
<message name="RSSI_COMBINED" id="39">
<field name="remote_rssi" type="uint8"/>
<field name="tx_power" type="uint8"/>
<field name="local_rssi" type="uint8"/>
<field name="local_noise" type="uint8"/>
<field name="remote_noise" type="uint8"/>
</message>
<message name="DCF" id="40">
<description>Telemetry message for monitoring the status of the Distributed Circular Formation.</description>
<field name="table" type="int16[]"> The size of the array is 4 x (maximum number of possible neighbors). The elements per each neighbor are: 1. ID of the neighbor, 2. Theta of the neighbor (degrees x 100), 3. Desired inter-vehicle angle (degrees x 100), 4. Last time in ms we received a msg from the neighbor</field>
<field name="errors" type="int16[]"> The size of the array is the maximum number of possible neighbors. Errors w.r.t. desired inter-vehicle angles (degrees x 100)</field>
</message>
<message name="ALT_KALMAN" id="41">
<field name="p00" type="float"/>
<field name="p01" type="float"/>
<field name="p10" type="float"/>
<field name="p11" type="float"/>
</message>
<message name="ESTIMATOR" id="42">
<field name="z" type="float" unit="m"/>
<field name="z_dot" type="float" unit="m/s"/>
</message>
<message name="TUNE_ROLL" id="43">
<field name="p" type="float"/>
<field name="phi" type="float"/>
<field name="phi_sp" type="float"/>
</message>
<message name="BARO_MS5534A" id="44">
<field name="pressure" type="uint32" unit="P"/>
<field name="temp" type="uint16" unit="dC"/>
<field name="alt" type="float" unit="m"/>
</message>
<message name="CHIRP" id="45">
<field name="active" type="uint8">Chirp is active</field>
<field name="percentage_done" type="float">Percentage done</field>
<field name="current_frequency" type="float">Current frequency</field>
<field name="axis" type="uint8">Current chirp axis</field>
<field name="amplitude" type="int16">Amplitude</field>
<field name="fstart" type="float">Start frequency</field>
<field name="fstop" type="float">Stop frequency</field>
<field name="noise_onaxis_ratio" type="float">Noise ratio onaxis</field>
<field name="noise_offaxis" type="float">Noise offaxis</field>
<field name="current_value" type="int16">Current chirp value</field>
<field name="fade_in" type="uint8" unit="bool">Fade in feature active</field>
<field name="exponential" type="uint8" unit="bool">Exponential chirp active</field>
</message>
<message name="EXTERNAL_POSE_DOWN" id="46">
<description>
Position, speed and orientation in local frame from a remote vision system
</description>
<field name="timestamp" type="float" unit="mus">Timestamp from the measurement</field>
<field name="ned_x" type="float" unit="m">NED x position in vision frame</field>
<field name="ned_y" type="float" unit="m">NED y position in vision frame</field>
<field name="ned_z" type="float" unit="m">NED z position in vision frame</field>
<field name="ned_xd" type="float" unit="m/s">NED x speed in vision frame</field>
<field name="ned_yd" type="float" unit="m/s">NED y speed in vision frame</field>
<field name="ned_zd" type="float" unit="m/s">NED z speed in vision frame</field>
<field name="body_qi" type="float">Body quaternion i in NED to body</field>
<field name="body_qx" type="float">Body quaternion x in NED to body</field>
<field name="body_qy" type="float">Body quaternion y in NED to body</field>
<field name="body_qz" type="float">Body quaternion z in NED to body</field>
</message>
<message name="WP_MOVED_LLA" id="47">
<field name="wp_id" type="uint8"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
</message>
<message name="RLFILTER" id="48">
<description>Relative localization data for other tracked MAVs in terms of x y and z in the body axis</description>
<field name="trackedID" type="int32" unit=""/>
<field name="rangearray" type="float" unit="dB"/>
<field name="x_tracked" type="float" unit="m/s"/>
<field name="y_tracked" type="float" unit="m/s"/>
<field name="vx_own" type="float" unit="m/s"/>
<field name="vy_own" type="float" unit="m/s"/>
<field name="vx_tracked" type="float" unit="m/s"/>
<field name="vy_tracked" type="float" unit="m/s"/>
<field name="z_pos" type="float" unit="m"/>
</message>
<message name="WP_MOVED_ENU" id="49">
<field name="wp_id" type="uint8"/>
<field name="east" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="north" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="up" type="int32" unit="2^8m" alt_unit="m" alt_unit_coef="0.0039063"/>
</message>
<message name="WINDTURBINE_STATUS_" id="50">
<field name="ac_id" type="uint8"/>
<field name="tb_id" type="uint8"/>
<field name="sync_itow" type="uint32" unit="ms"/>
<field name="cycle_time" type="uint32" unit="ms"/>
</message>
<!-- Duplicate of RC_3CH defined in datalink section? -->
<message name="RC_3CH_" id="51">
<field name="throttle_mode" type="uint8" unit="byte_mask"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
</message>
<message name="MPPT" id="52">
<field name="values" type="int16[]" alt_unit_coef="1e-3"/>
</message>
<message name="DEBUG_VECT" id="53">
<field name="name" type="char[]"/>
<field name="vector" type="float[]"/>
</message>
<message name="AIRSPEED" id="54">
<field name="airspeed" type="float" unit="m/s">Fused airspeed from all sources</field>
<field name="airspeed_sp" type="float" unit="m/s">Airspeed setpoint</field>
<field name="airspeed_cnt" type="float" unit="m/s"/>
<field name="groundspeed_sp" type="float" unit="m/s"/>
</message>
<message name="METEO_STICK" id="55">
<description>
Data from the MeteoSitck sensor board
</description>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="itow" type="uint32" unit="ms">GPS time of week</field>
<field name="pressure" type="float" unit="Pa">absolute static pressure</field>
<field name="temperature" type="float" unit="deg C">temperature</field>
<field name="humidity" type="float" unit="%">relative humidity</field>
<field name="airspeed" type="float" unit="m/s">calibrated airspeed</field>
</message>
<message name="BARO_ETS" id="56">
<field name="adc" type="uint16"/>
<field name="offset" type="uint16"/>
<field name="scaled" type="float"/>
</message>
<!-- 57 is free-->
<message name="VISION_OUTBACK" id="58">
<field name="status" type="uint8"/>
<field name="het_moment" type="uint8"/>
<field name="timeoutcount" type="uint8"/>
<field name="vision_timeout" type="uint8"/>
<field name="height" type="float"/>
<field name="out_of_range" type="float"/>
<field name="marker_enu_x" type="float"/>
<field name="marker_enu_y" type="float"/>
<field name="flow_x" type="float"/>
<field name="flow_y" type="float"/>
</message>
<message name="GPS_LLA" id="59">
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="week" type="uint16" unit="weeks"/>
<field name="itow" type="uint32" unit="ms"/>
<field name="mode" type="uint8" unit="byte_mask"/>
<field name="gps_nb_err" type="uint8"/>
</message>
<message name="H_CTL_A" id="60">
<field name="roll_sum_err" type="float"/>
<field name="roll_sp" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="roll_ref" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="aileron_sp" type="int16" unit="pprz"/>
<field name="pitch_sum_err" type="float"/>
<field name="pitch_sp" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch_ref" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="elevator_sp" type="int16" unit="pprz"/>
</message>
<message name="CLOUD_SENSOR" id="61">
<description>
Geolocalized and timestamped data from the meteo cloud sensor module
</description>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="itow" type="uint32" unit="ms">GPS time of week</field>
<field name="coef" type="float">Angstrom coefficient computed on board</field>
<field name="raw" type="float[]">Raw values and extra measurements data</field>
</message>
<message name="TURB_PRESSURE_VOLTAGE" id="62">
<field name="ch_1_p" type="float"/>
<field name="ch_1_t" type="float"/>
<field name="ch_2_p" type="float"/>
<field name="ch_2_t" type="float"/>
<field name="ch_3_p" type="float"/>
<field name="ch_3_t" type="float"/>
<field name="ch_4_p" type="float"/>
<field name="ch_4_t" type="float"/>
<field name="ch_5_p" type="float"/>
<field name="ch_5_t" type="float"/>
<field name="ch_6_p" type="float"/>
<field name="ch_6_t" type="float"/>
<field name="ch_7_p" type="float"/>
<field name="ch_7_t" type="float"/>
<field name="gnd1" type="float"/>
<field name="gnd2" type="float"/>
</message>
<message name="CAM_POINT" id="63">
<field name="cam_point_distance_from_home" type="uint16" unit="m"/>
<field name="cam_point_lat" type="float" unit="deg"/>
<field name="cam_point_lon" type="float" unit="deg"/>
</message>
<message name="DC_INFO" id="64">
<field name="mode" type="int16" unit=""/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="course" type="float" unit="deg"/>
<field name="photo_nr" type="uint16"/>
<field name="dist" type="float" unit="m"/>
<field name="next_dist" type="float" unit="m"/>
<field name="start_x" type="float" unit="m"/>
<field name="start_y" type="float" unit="m"/>
<field name="start_angle" type="float" unit="deg"/>
<field name="angle" type="float" unit="deg"/>
<field name="last_block" type="float"/>
<field name="count" type="uint16" unit=""/>
<field name="shutter" type="uint8" unit="decisec" alt_unit="sec" alt_unit_coef="0.1"/>
</message>
<message name="AMSYS_BARO" id="65">
<field name="pBaroRaw" type="uint16"></field>
<field name="pBaro" type="float" unit="Pa"> </field>
<field name="pHomePressure" type="float" unit="Pa"></field>
<field name="AltOffset" type="float" unit="m"></field>
<field name="aktuell" type="float" unit="m"></field>
<field name="Over_Ground" type="float" unit="m"></field>
<field name="tempBaro" type="float" unit="°C"></field>
</message>
<message name="AMSYS_AIRSPEED" id="66">
<field name="asRaw" type="uint16"></field>
<field name="asPresure" type="float" unit="Pa"></field>
<field name="asAirspeed" type="float" unit="m/s"></field>
<field name="asAirsFilt" type="float" unit="m/s"></field>
<field name="asTemp" type="float" unit="°C"></field>
</message>
<message name="FLIGHT_BENCHMARK" id="67">
<field name="SE_As" type="float"></field>
<field name="SE_Alt" type="float"></field>
<field name="SE_Pos" type="float"></field>
<field name="Err_As" type="float"></field>
<field name="Err_Alt" type="float"></field>
<field name="Err_Pos" type="float"></field>
</message>
<message name="MPL3115_BARO" id="68">
<field name="pressure" type="uint32" alt_unit="Pa" alt_unit_coef="0.25"/>
<field name="temp" type="int16" alt_unit="degC" alt_unit_coef="0.0625"/>
<field name="alt" type="float" unit="m"/>
</message>
<message name="AOA" id="69">
<field name="raw" type="uint32"/>
<field name="angle" type="float" unit="rad" alt_unit="deg"/>
</message>
<message name="XTEND_RSSI" id="70">
<field name="datalink_time" type="uint16" unit="s"/>
<field name="rssi_fade_margin" type="uint8" unit="dB"/>
<field name="duty" type="uint8" unit="%"/>
</message>
<message name="GVF" id="71">
<description>
Information about the trajectory followed by the Guidance Vector Field algorithm.
</description>
<field name="error" type="float">Error index e, i.e. 'distance' to the trajectory</field>
<field name="traj" type="uint8">Kind of trajectory</field>
<field name="s" type="int8" values="1|-1">Direction to be followed</field>
<field name="ke" type="float">Gain for the vector field convergence</field>
<field name="p" type="float[]">Parameters describing the trajectory</field>
</message>
<message name="SUPERBITRF" id="72">
<field name="status" type="uint8" values="UNINIT|INIT_BINDING|INIT_TRANSFER|BINDING|SYNCING_A|SYNCING_B|TRANSFER"/>
<field name="cyrf_status" type="uint8" values="UNINIT|IDLE|GET_MFG_ID|MULTIWRITE|DATA_CODE|CHAN_SOP_DATA_CRC|RX_IRQ_STATUS_PACKET|SEND"/>
<field name="irq_count" type="uint32"/>
<field name="rx_packet_count" type="uint32"/>
<field name="tx_packet_count" type="uint32"/>
<field name="transfer_timeouts" type="uint32"/>
<field name="resync_count" type="uint32"/>
<field name="uplink_count" type="uint32"/>
<field name="rc_count" type="uint32"/>
<field name="timing1" type="uint32"/>
<field name="timing2" type="uint32"/>
<field name="bind_mfg_id" type="uint32"/>
<field name="mfg_id" type="uint8[]"/>
</message>
<message name="GX3_INFO" id="73">
<field name="GX3_freq" type="float" unit="hz"/>
<field name="chksm_error" type="uint32"/>
<field name="hdr_error" type="uint32"/>
<field name="GX3_chksm" type="uint16"/>
</message>
<message name="UBLOX_INFO" id="74">
<field name="baud" type="uint32" />
<field name="ver_sw_h" type="uint8" />
<field name="ver_sw_l" type="uint8" />
<field name="ver_hw_h" type="uint16" />
<field name="ver_hw_l" type="uint16" />
<field name="sbas" type="uint8" />
<field name="gnss" type="uint8" values="NONE|GPS|GLONAS|GPS+GLONAS|BEIDOU|GPS+BEIDOU|GLONAS+BEIDOU|GPS+GLONAS+BEIDOU|GALILEO"/>
</message>
<message name="GVF_PARAMETRIC" id="75">
<description>
Information about the parametric trajectory followed by the Guidance Vector Field algorithm.
</description>
<field name="traj" type="uint8">Kind of trajectory</field>
<field name="s" type="int8" values="1|-1">Direction to be followed</field>
<field name="w" type="float">Virtual coordinate of the algorithm</field>
<field name="p" type="float[]">Parameters describing the trajectory</field>
<field name="phi" type="float[]" unit="m">Error signals</field>
</message>
<message name="BODY_RATES_ACCEL" id="76">
<description>
Rates and Acceleration in the body frame
</description>
<field name="p" type="float" unit="rad/s"/>
<field name="q" type="float" unit="rad/s"/>
<field name="r" type="float" unit="rad/s"/>
<field name="ax" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ay" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="az" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="SWARM_FISH" id="77">
<description>
State of the swarm fish navigation
</description>
<field name="heading" type ="float" unit="rad">Current Heading</field>
<field name="step_size" type ="float" unit="m">Current step size</field>
<field name="rw" type="float" unit="m">Distance to wall</field>
<field name="fw" type="float">Wall interaction coef</field>
<field name="theta_w" type ="float" unit="rad">Angle to wall</field>
<field name="f_fluct" type="float">Fluctation effect</field>
<field name="f_wall" type="float">Wall effect</field>
<field name="f_ali" type="float">Alignement effect</field>
<field name="f_att" type="float">Attraction effect</field>
</message>
<!--message for Invariant filter with position-->
<message name="INV_FILTER" id="78">
<field name="quat" type="float"/>
<field name="phi_inv" type="float" unit="rad" alt_unit="deg"/>
<field name="theta_inv" type="float" unit="rad" alt_unit="deg"/>
<field name="psi_inv" type="float" unit="rad" alt_unit="deg"/>
<field name="Vx_inv" type="float" unit="m/s"/>
<field name="Vy_inv" type="float" unit="m/s"/>
<field name="Vz_inv" type="float" unit="m/s"/>
<field name="Px_inv" type="float" unit="m"/>
<field name="Py_inv" type="float" unit="m"/>
<field name="Pz_inv" type="float" unit="m"/>
<field name="bias_phi" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bias_theta" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bias_psi" type="float" unit="rad/s" alt_unit="deg/s"/>
<field name="bias_as" type="float"/>
<field name="bias_hb" type="float"/>
<field name="meas_baro" type="float" unit="m"/>
<field name="meas_gps" type="float" unit="m"/>
</message>
<message name="MISSION_STATUS" id="79">
<field name="remaining_time" type="float"/>
<field name="index_list" type="uint8[]"/>
</message>
<message name="JEVOIS" id="80">
<description>
Debug message for the JeVois smart camera
corresponding to the standardized messages
</description>
<field name="type" type="uint8">Standardized message type JEVOIS_MSG_[T1|N1|D1|T2|N2|D2|F2|T3|N3|D3|F3]</field>
<field name="id" type="char[]">Text string describing the reported object</field>
<field name="nb" type="uint8">Number of elements in the coordinates array</field>
<field name="coord" type="int16[]">List of coordinates corresponding to 1D, 2D or 3D messages</field>
<field name="dim" type="uint16[3]">1, 2 or 3D dimension</field>
<field name="quat" type="float[4]">Quaternion that relates the object's frame to the camera's frame, if appropriate</field>
</message>
<message name="GENERIC_COM" id="81">
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int16" unit="m"/>
<field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="airspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="vsupply" type="uint8" unit="deciV"/>
<field name="charge" type="uint8" unit="deciAh"/>
<field name="throttle" type="uint8" unit="%"/>
<field name="ap_mode" type="uint8"/>
<field name="nav_block" type="uint8"/>
<field name="flight_time" type="uint16" unit="s"/>
</message>
<message name="FORMATION_SLOT_TM" id="82">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="slot_east" format="%.1f" type="float" unit="m"/>
<field name="slot_north" format="%.1f" type="float" unit="m"/>
<field name="slot_alt" format="%.1f" type="float" unit="m"/>
</message>
<message name="FORMATION_STATUS_TM" id="83">
<field name="ac_id" type="uint8"/>
<field name="leader_id" type="uint8"/>
<field name="status" type="uint8"/>
</message>
<message name="BMP_STATUS" id="84">
<field name="UP" type="int32"/>
<field name="UT" type="int32"/>
<field name="press" type="int32" unit="Pa"/>
<field name="temp" type="int32" unit="10x_deg_celsius"/>
</message>
<message name="MLX_STATUS" id="85">
<field name="itemp_case" type="uint16"/>
<field name="temp_case" type="float" unit="deg_celsius" format="%.2f"/>
<field name="itemp_obj" type="uint16"/>
<field name="temp_obj" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="TMP_STATUS" id="86">
<field name="itemp" type="uint16"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="WIND_INFO_RET" id="87">
<description>
Wind information returned to the ground station.
The wind is reported as a vector, it gives the direction the wind is blowing to.
This can be used to acknowledge data comming from the ground wind estimator
or from an embedded algorithm.
Flags field definition:
- bit 0: horizontal wind is valid (east and north fields)
- bit 1: vertical wind is valid (up field)
- bit 2: airspeed is valid
</description>
<field name="flags" type="uint8">bit 0: horizontal wind, bit 1: vertical wind: bit 2: airspeed</field>
<field name="east" type="float" unit="m/s">east component of the wind</field>
<field name="north" type="float" unit="m/s">north component of the wind</field>
<field name="up" type="float" unit="m/s">vertical component of the wind</field>
<field name="airspeed" type="float" unit="m/s">local airspeed norm</field>
</message>
<message name="SCP_STATUS" id="88">
<field name="press" type="uint32" unit="Pa"/>
<field name="temp" type="int16" unit="100x_deg_celsius"/>
</message>
<message name="SHT_STATUS" id="89">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="VISION_POSITION_ESTIMATE" id="90">
<description>Generic message to send position measurement from computer vision</description>
<field name="cnt" type="uint16">Counter</field>
<field name="x" type="float">X</field>
<field name="y" type="float">Y</field>
<field name="z" type="float">Z</field>
<field name="quality" type="float">Detection Quality or Uncertainty</field>
<field name="extra" type="float">In case the default message does not suit you</field>
</message>
<message name="DPICCO_STATUS" id="91">
<field name="humid" type="uint16"/>
<field name="temp" type="uint16"/>
<field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
<field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="LOGGER_STATUS" id="92">
<description>
Logger status and error id (dependent of the logging system)
</description>
<field name="status" type="uint8" values="STOPPED|RUNNING|ERROR">General status of the logger</field>
<field name="errno" type="uint8">Error number, depend of the logging system, provides detailed information</field>
<field name="used" type="uint32" unit="bytes" alt_unit="MB" alt_unit_coef="0.000000953674316">Accumulated number of bytes written by the logger</field>
<field name="filenames" type="char[]">The filenames currently in use by the logger (First sdlog, second Flight recorder for chibios)</field>
</message>
<message name="MINIMAL_COM" id="93">
<description>
Minimal information for correct display in the GCS, in particular the Strip
</description>
<field name="lat" type="float" unit="deg">Lattitude</field>
<field name="lon" type="float" unit="deg">Longitude</field>
<field name="hmsl" type="float" unit="m">Altitude above mean sea level</field>
<field name="gspeed" type="float" unit="m/s">Ground speed norm</field>
<field name="course" type="float" unit="rad" alt_unit="deg">Ground speed direction</field>
<field name="climb" type="float" unit="m/s">Vertical speed</field>
<field name="vsupply" type="float" unit="V">Battery voltage</field>
<field name="throttle" type="uint8" unit="%">Throttle level</field>
<field name="ap_mode" type="uint8">Current autopilot mode</field>
<field name="nav_block" type="uint8">Current navigation block</field>
<field name="gps_mode" type="uint8">GPS fix flag</field>
<field name="flight_time" type="uint16">Flight time</field>
</message>
<message name="MOTOR_BENCH_STATUS" id="94">
<field name="time_ticks" type="uint32"/>
<field name="throttle" type="float" format="%.3f"/>
<field name="rpm" type="float"/>
<field name="current" type="float"/>
<field name="thrust" type="float"/>
<field name="torque" type="float"/>
<field name="time_s" type="uint16"/>
<field name="mode" type="uint8"/>
</message>
<message name="TARGET_POS_INFO" id="95">
<description>
Global position, speed and ID of a target for functions like 'Follow Me'
</description>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="speed" type="float" unit="m/s">Ground speed</field>
<field name="climb" type="float" unit="m/s">Climb speed</field>
<field name="course" type="float" unit="deg" format="%.1f"/>
<field name="heading" type="float" unit="deg" format="%.1f"/>
<field name="off_heading" type="float" unit="deg">Offset heading</field>
<field name="off_distance" type="float" unit="m">Offset distance</field>
<field name="off_height" type="float" unit="m">Offset height</field>
</message>
<message name="HIH_STATUS" id="96">
<field name="humid" type="uint16"/>
<field name="fhumid" type="float" unit="rel_hum" format="%.2f"/>
<field name="ftemp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="TEMT_STATUS" id="97">
<field name="light" type="uint16"/>
<field name="f_light" type="float" unit="percent" format="%.2f"/>
</message>
<message name="GP2Y_STATUS" id="98">
<field name="idensity" type="uint16"/>
<field name="density" type="float" unit="mg/m3" format="%.2f"/>
</message>
<message name="SHT_I2C_SERIAL" id="99">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>
<message name="PPM" id="100">
<field name="ppm_rate" type="uint8"/>
<field name="values" type="uint16[]" unit="usec"/>
</message>
<message name="RC" id="101">
<field name="values" type="int16[]" unit="pprz" format="%d"/>
</message>
<message name="COMMANDS" id="102">
<field name="values" type="int16[]" unit="ticks"/>
</message>
<message name="FBW_STATUS" id="103">
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
<field name="vsupply" type="float" unit="V"/>
<field name="current" type="float" unit="A"/>
</message>
<!-- Only used in airborne/test/mcu_periph/test_adc.c -->
<message name="ADC" id="104">
<field name="mcu" type="uint8" values="FBW|AP"/>
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="ACTUATORS" id="105">
<field name="values" type="int16[]" unit="none"/>
</message>
<message name="BLUEGIGA" id="106">
<field name="data_rate" type="uint32" unit="bytes/s"/>
<field name="A2A_msg_rate" type="uint32"/>
</message>
<!-- Not used yet? -->
<message name="THROTTLE_CURVE" id="107">
<field name="curve" type="uint8"/>
<field name="throttle" type="uint16"/>
<field name="collective" type="int16"/>
<field name="rpm_sp" type="uint16"/>
<field name="rpm_meas" type="uint16"/>
<field name="rpm_err_sum" type="float"/>
</message>
<message name="PIKSI_HEARTBEAT" id="108">
<field name="heartbeat" type="uint32"/>
</message>
<message name="MULTIGAZE_METERS" id="109">
<field name="multigaze_meters" type="float[]"/>
</message>
<message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001">Gedetic latitude</field>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001">Longitude</field>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="phi" type="int16" unit="decideg">Euler angle around x-axis (roll)</field>
<field name="theta" type="int16" unit="decideg">Euler angle around y-axis (pitch)</field>
<field name="psi" type="int16" unit="decideg">Euler angle around z-axis (yaw)</field>
<field name="course" type="int16" unit="decideg">Course over ground (CW/north)</field>
<field name="speed" type="uint16" unit="cm/s">horizontal ground speed</field>
<field name="itow" type="uint32" unit="ms">GPS time of week</field>
</message>
<message name="CAMERA_PAYLOAD" id="111">
<field name="timestamp" type="float" unit="s">Payload computer seconds since startup</field>
<field name="used_memory" type="uint8" unit="%">Percentage of used memory (RAM) of the payload computer rounded up to whole percent</field>
<field name="used_disk" type="uint8" unit="%">Percentage of used disk of the payload computer rounded up to whole percent</field>
<field name="door_status" type="uint8" values="UNKNOWN|CLOSE|OPEN">Payload door open/close</field>
<field name="error_code" type="uint8" values="NONE|CAMERA_ERR|DOOR_ERR">Error codes of the payload</field>
</message>
<message name="MOTOR_MIXING" id="112">
<field name="values" type="int16[]" unit="none"/>
</message>
<message name="MLX_SERIAL" id="113">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>
<message name="PAYLOAD" id="114">
<field name="values" type="uint8[]" unit="none"/>
</message>
<message name="HTM_STATUS" id="115">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>